esc-m: command not found

Have You tried accessing the binary with the full path?

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/esc-m - from package: min12xxw

You may install the required package with command yum install {package}

On Debian possible default full paths are:

/usr/bin/esc-m - from package: printer-driver-min12xxw

You may install the required package with command apt-get install {package}
Error in other languages:
esc-m: bevel nie gevind nie
esc-m: comandă negăsită
esc-m: comando não encontrado
esc-m: commande introuvable
esc-m: command not found
esc-m: käsku ei ole
esc-m: không tìm thấy lệnh
esc-m: komanda nerasta
esc-m: Kommando nicht gefunden.
esc-m: kommandot finns inte
esc-m: komut yok
esc-m: nie znaleziono polecenia
esc-m: níor aimsíodh an t-ordú
esc-m: no se encontró la orden
esc-m: no s'ha trobat l'ordre
esc-m: opdracht niet gevonden
esc-m: parancs nem található
esc-m: perintah tidak ditemukan
esc-m: príkaz nenájdený
esc-m: příkaz nenalezen
esc-m: команда не найдена
esc-m: командата не е открита
esc-m: 命令找不到
esc-m: コマンドが見つかりません